Exploiting a non-transmission-designated interval in a cycle of a protocol

ABSTRACT

A system for exploiting a non-transmission-designated interval in a cycle of a protocol can include a processor and a memory. The memory can store a retrieval module, an alternative transmission determination module, and a schedule module. The retrieval module can cause the processor to retrieve, by a specific node associated with a set of nodes in a network, information about the set. The information can include, for a node in the set, identifications of a frequency and a time slot of a transmission-designated interval in a cycle of the protocol. The alternative transmission determination module can cause the processor to determine, based on the information, an existence, in the set, of a non-transmission-designated interval that has a duration greater than a threshold duration. The schedule module can cause the processor to schedule, in response to the existence, the specific node to produce a transmission during the non-transmission-designated interval.

TECHNICAL FIELD

The disclosed technologies are directed to exploiting anon-transmission-designated interval in a cycle of a protocol.

BACKGROUND

Historically, operation of a vehicle in a manner that avoids a collisionwith another object has depended upon the efficacies of the senses of anoperator of the vehicle. In the past few decades, technologies have beendeveloped to assist or supersede reliance upon the senses of theoperator. Such technologies can include, for example, sensors disposedon the vehicle, “connected car” technologies, driving automationtechnologies, or the like.

Sensors disposed on the vehicle can include, for example, one or more ofglobal navigation satellite systems (GNNS), inertial measurement units(IMU), image sensors, cameras, radar systems, light detection andranging (LIDAR) systems, ultrasonic systems, or the like.

“Connected car” technologies can include, for example, devices toexchange communications between a vehicle and other devices in apacket-switched network. Such other devices can include, for example,another vehicle (e.g., “Vehicle to Vehicle” (V2V) technology), roadsideinfrastructure (e.g., “Vehicle to Infrastructure” (V2I) technology), acloud platform (e.g., “Vehicle to Cloud” (V2C) technology), a pedestrian(e.g., “Vehicle to Pedestrian” (V2P) technology), or a network (e.g.,“Vehicle to Network” (V2N) technology. “Vehicle to Everything” (V2X)technology can integrate aspects of these individual communicationstechnologies.

SUMMARY

In an embodiment, a system for exploiting a non-transmission-designatedinterval in a cycle of a protocol can include a processor and a memory.The memory can store a retrieval module, an alternative transmissiondetermination module, and a schedule module. The retrieval module caninclude instructions that when executed by the processor cause theprocessor to retrieve, by a specific node associated with a set of nodesin a network, information about the set. The information can include,for a node in the set, identifications of a frequency and a time slot ofa transmission-designated interval in a cycle of the protocol. Thealternative transmission determination module can include instructionsthat when executed by the processor cause the processor to determine,based on the information, an existence, in the set, of anon-transmission-designated interval that has a duration greater than athreshold duration. The schedule module can include instructions thatwhen executed by the processor cause the processor to schedule, inresponse to the existence, the specific node to produce a transmissionduring the non-transmission-designated interval.

In another embodiment, a method for exploiting anon-transmission-designated interval in a cycle of a protocol caninclude retrieving, by a processor of a specific node associated with aset of nodes in a network, information about the set. The informationcan include, for a node in the set, identifications of a frequency and atime slot of a transmission-designated interval in a cycle of theprotocol. The method can also include determining, by the processor andbased on the information, an existence, in the set, of anon-transmission-designated interval that has a duration greater than athreshold duration. The method can also include scheduling, by theprocessor and in response to the existence, the specific node to producea transmission during the non-transmission-designated interval.

In another embodiment, a non-transitory computer-readable medium forexploiting a non-transmission-designated interval in a cycle of aprotocol can include instructions that when executed by one or moreprocessors cause the one or more processors to retrieve, by a specificnode associated with a set of nodes in a network, information about theset. The information can include, for a node in the set, identificationsof a frequency and a time slot of a transmission-designated interval inthe cycle of the protocol. The non-transitory computer-readable mediumcan also include instructions that when executed by the one or moreprocessors cause the one or more processors to determine, based on theinformation, an existence, in the set, of a non-transmission-designatedinterval that has a duration greater than a threshold duration. Thenon-transitory computer-readable medium can also include instructionsthat when executed by the one or more processors cause the one or moreprocessors to schedule, in response to the existence, the specific nodeto produce a transmission during the non-transmission-designatedinterval.

BRIEF DESCRIPTION OF THE DRAWINGS

The accompanying drawings, which are incorporated in and constitute apart of the specification, illustrate various systems, methods, andother embodiments of the disclosure. It will be appreciated that theillustrated element boundaries (e.g., boxes, groups of boxes, or othershapes) in the figures represent one embodiment of the boundaries. Insome embodiments, one element may be designed as multiple elements ormultiple elements may be designed as one element. In some embodiments,an element shown as an internal component of another element may beimplemented as an external component and vice versa. Furthermore,elements may not be drawn to scale.

FIG. 1 includes a diagram that illustrates an example of a sequence ofcycles of a protocol, according to the disclosed technologies.

FIG. 2 includes a diagram that illustrates an example of an environmentfor communicating according to the protocol, according to the disclosedtechnologies.

FIG. 3 includes a block diagram that illustrates an example of a systemfor exploiting a non-transmission-designated interval in a cycle of aprotocol, according to the disclosed technologies.

FIG. 4 includes a diagram that illustrates an example of a neighbortable, according to the disclosed technologies.

FIG. 5 includes a diagram that illustrates an example of a beaconmessage with an attached neighbor table, according to the disclosedtechnologies.

FIGS. 6A-6C are a flow diagram that illustrates an example of a methodthat is associated with exploiting a non-transmission-designatedinterval in a cycle of a protocol, according to the disclosedtechnologies.

FIG. 7 includes a block diagram that illustrates an example of elementsdisposed on a vehicle, according to the disclosed technologies.

DETAILED DESCRIPTION

Radar systems can be used by a vehicle to determine one or more of arange to another object, a speed of the other object, or a direction ofthe other object. Such an ability can be particularly advantageous foran operator of the vehicle in a condition of poor visibility, when theother object is located in a blind spot of the operator, or the like.Additionally, radar systems can be used in a variety of applications ofdriving automation technologies. To facilitate such developments, onDec. 15, 1995, the Federal Communications Commission (FCC) issue anorder that allocated the 77 GHz frequency band for vehicular radarsystems on an unlicensed basis.

“Vehicle to Vehicle” technology can be used to form a vehicular ad hocnetwork (VANET) based on the principles of mobile ad hoc networks forthe spontaneous formation of a wireless network of mobile devices. Avehicular ad hoc network can be used for a variety of applicationsincluding transmission of cooperative awareness messages (CAMs),electronic brake light communications (which communicate a brakingaction of a vehicle), platooning (in which vehicles move together incoordination with a short distance of separation between the vehicles),communicating traffic information, On-the-Road services (in whichcommunication of an advertisement occurs when a vehicle is near to asubject of the advertisement), or the like. To manage communications invehicular ad hoc networks, on Jul. 15, 2010, the Institute of Electricaland Electronics Engineers (IEEE) published the 1609 Wireless Access inVehicular Environments (WAVE) protocol, which reserved seven channels inthe 5.9 GHz frequency band for use for vehicular ad hoc networks.

The development of applications for vehicular radar systems and“connected car” technologies and the incorporation of these technologiesin an increasing number of vehicles have given cause for concern about ahigh degree of transmission traffic in the 5.9 GHz frequency band andthe 77 GHz frequency band. To address this concern, joint automotiveradar-communication (JARC) strategies are being implemented in which atransceiver can be used for simultaneous wireless communication andautomotive radar sensing via a single radio-frequency transmission. Inthis manner, the transceiver can transmit data while performing radarsensing. Because the bandwidth allocated for automotive radar systems(e.g., 4 GHz) is larger than the bandwidth allocated for vehicular adhoc networks, implementations of joint automotive radar-communicationstrategies have been in the 77 GHz frequency band.

The disclosed technologies are directed to exploiting anon-transmission-designated interval in cycle of a protocol. Forexample, the protocol can be a medium access protocol. A medium accessprotocol can define rules that provide for an orderly access to a sharedmedium by a set of nodes in a network. In this manner, a medium accessprotocol can cause one or more of efficient or fair sharing of scarcewireless bandwidth. For example, the network can be associated with achannel. For example, the channel can have one or more sub-bands. For asub-band, a cycle of the protocol can include a transmission-designatedinterval and one or more non-transmission-designated intervals. Forexample, the one or more non-transmission-designated intervals caninclude a non-transmission-designated interval that occurs, in thecycle, before the transmission-designated interval. Such anon-transmission-designated interval can be referred to as a “wait”interval. For example, the one or more non-transmission-designatedintervals can include a non-transmission-designated interval thatoccurs, in the cycle, after the transmission-designated interval. Such anon-transmission-designated interval can be referred to as an “idle”interval.

A specific node, associated with a set of nodes in the network, canretrieve information about the set of nodes. For example, the specificnode can be disposed on a vehicle. For example, the specific node can bean element of the set of nodes. Alternatively, for example, the specificnode can be a candidate to join the set of nodes. The information caninclude, for a node in the set, identifications of a frequency (e.g., asub-band) and a time slot of the transmission-designated interval in thecycle. For example, the information can be stored in a data store in anarrangement that can be referred to as a “neighbor table”. For example,a least some of the information can be received by the specific node,via a transceiver, from one or more other nodes in the set. For example,a transmission that includes such information can be referred to as a“beacon message”. The specific node can determine, based on theinformation, an existence, in the set of nodes, of anon-transmission-designated interval that has a duration greater than athreshold duration. For example, the channel can be used for both acommunications operation and a radar operation. For example, thethreshold duration can allow a transmission to have a sufficient amountof energy for the radar operation. The specific node can schedule, inresponse to the existence of a non-transmission-designated interval thathas a duration greater than the threshold duration, the specific node toproduce the transmission during the non-transmission-designatedinterval. In this manner, a greater degree of transmission traffic canbe communicated through the channel.

FIG. 1 includes a diagram that illustrates an example of a sequence ofcycles 102 of a protocol, according to the disclosed technologies. Thesequence of cycles 102 can include, for example, a first cycle 104 and asecond cycle 106. The protocol can be used, for example, by a set ofnodes in a network. For example, the network can be associated with achannel 108. For example, the channel 108 can have one or more sub-bands110. The one or more sub-bands 110 can include, for example, a firstsub-band 112 and a second sub-band 114.

For example, for the first sub-band 112, each of the cycles 102 of theprotocol can include a transmission-designated interval 116 and one ormore non-transmission-designated intervals 118 and 120. For example, theone or more non-transmission-designated intervals 118 and 120 caninclude a non-transmission-designated interval 118 that occurs, in eachof the cycles 102, before the transmission-designated interval 116. Thenon-transmission-designated interval 118 can be referred to as a “wait”interval. For example, the one or more non-transmission-designatedintervals 118 and 120 can include a non-transmission-designated intervalthat occurs, in each of the cycles 102, after thetransmission-designated interval 116. The non-transmission-designatedinterval 120 can be referred to as an “idle” interval. For example, forthe first sub-band 112, for the first cycle 104, thenon-transmission-designated interval 118 can be from t₀ to t₄, thetransmission-designated interval 116 can be from t₄ to t₁₂, and thenon-transmission-designated interval 120 can be from t₁₂ to t₂₄. Forexample, for the first sub-band 112, for the second cycle 106, thenon-transmission-designated interval 118 can be from t₂₄ to t₂₈, thetransmission-designated interval 116 can be from t₂₈ to t₃₆, and thenon-transmission-designated interval 120 can be from t₃₆ to t₄₈.

For example, for the second sub-band 114, each of the cycles 102 of theprotocol can include a transmission-designated interval 122 and one ormore non-transmission-designated intervals 124 and 126. For example, theone or more non-transmission-designated intervals 124 and 126 caninclude a non-transmission-designated interval 124 that occurs, in eachof the cycles 102, before the transmission-designated interval 122. Thenon-transmission-designated interval 124 can be referred to as a “wait”interval. For example, the one or more non-transmission-designatedintervals 124 and 126 can include a non-transmission-designated interval126 that occurs, in each of the cycles 102, after thetransmission-designated interval 122. The non-transmission-designatedinterval 126 can be referred to as an “idle” interval. For example, forthe second sub-band 114, for the first cycle 104, thenon-transmission-designated interval 124 can be from t₀ to t₁₂, thetransmission-designated interval 122 can be from t₁₂ to t₂₀, and thenon-transmission-designated interval 126 can be from t₂₀ to t₂₄. Forexample, for the second sub-band 114, for the second cycle 106, thenon-transmission-designated interval 124 can be from t₂₄ to t₃₆, thetransmission-designated interval 122 can be from t₃₆ to t₄₄, and thenon-transmission-designated interval 126 can be from t₄₄ to t₄₈.

FIG. 2 includes a diagram that illustrates an example of an environment200 for communicating according to the protocol, according to thedisclosed technologies. The environment 200 can include, for example, aroad 202 and a global navigation satellite system (GNNS) 204. Forexample, the road 202 can include a first lane 206 and a second lane208. Located in the first lane 206 can be, for example, a first vehicle210. Located in the second lane 208 can be, for example, a secondvehicle 212, a third vehicle 214, and a fourth vehicle 216. The firstvehicle 210 can include, for example, a front transceiver 218, a backtransceiver 220, a left transceiver 222, and a right transceiver 224.The second vehicle 212 can include, for example, a front transceiver226, a back transceiver 228, a left transceiver 230, and a righttransceiver 232. The third vehicle 214 can include, for example, a fronttransceiver 234, a back transceiver 236, a left transceiver 238, and aright transceiver 240. The fourth vehicle 216 can include, for example,a front transceiver 242, a back transceiver 244, a left transceiver 246,and a right transceiver 248. For example, the first vehicle 210 can be afirst node 250, the second vehicle 212 can be a second node 252, thethird vehicle 214 can be a third node 254, and the fourth vehicle 216can be a fourth node 256. For example, the first node 250, the secondnode 252, and the third node 254 can be a set 258 of nodes in a network260.

With reference to FIGS. 1 and 2 , for example, an endpoint of each ofthe cycles 102 can be designated by a synchronization signal. Forexample, endpoints of the sequence of cycles 102 can be designated by afirst synchronization signal 128, a second synchronization signal 130,and a third synchronization signal 132. One or more of the firstsynchronization signal 128, the second synchronization signal 130, orthe third synchronization signal 132 can be produced by one or more ofthe global navigation satellite system 204 or a synchronization controlnode in the network 260. Any node in the set 258 of nodes can be thesynchronization control node. Additionally or alternatively, an endpointof each of the cycles 102 can be designated by a pattern in each of thecycles 102 agreed-upon by otherwise synchronized nodes in the network260. For example, for the first sub-band 112, the pattern in the firstcycle (e.g., the non-transmission-designated interval 118 being from t₀to t₄, the transmission-designated interval 116 being be from t₄ to t₁₂,and the non-transmission-designated interval 120 being from t₁₂ to t₂₄)can be the same as the pattern in the second cycle 106 (e.g., thenon-transmission-designated interval 118 being from t₂₄ to t₂₈, thetransmission-designated interval 116 being from t₂₈ to t₃₆, and thenon-transmission-designated interval 120 being from t₃₆ to t₄₈).

FIG. 3 includes a block diagram that illustrates an example of a system300 for exploiting a non-transmission-designated interval in a cycle ofa protocol, according to the disclosed technologies. For example, theprotocol can be a medium access protocol. The system 300 can include,for example, a processor 302 and a memory 304. The memory 304 can becommunicably coupled to the processor 302. The memory 304 can store aretrieval module 306, an alternative transmission determination module308, and a schedule module 310.

The retrieval module 306 can include instructions that function tocontrol the processor 302 to retrieve, by a specific node associatedwith a set of nodes in a network, information about the set of nodes.For example, the specific node can be disposed on a vehicle. Theinformation can include, for a node in the set, identifications of afrequency and a time slot of a transmission-designated interval in acycle of the protocol.

For example, the specific node can be an element of the set of nodes.With reference to FIG. 2 , for example, the specific node can be thethird node 254 (e.g., the third vehicle 214), which is an element of theset 258 of nodes.

Alternatively, for example, the specific node can be a candidate to jointhe set of nodes. For example, the specific node can be the fourth node256 (e.g., the fourth vehicle 216), which is a candidate to join the set258 of nodes.

Returning to FIG. 3 , for example, the system 300 can further include adata store 312. The data store 312 can be communicably coupled to theprocessor 302. The data store 312 can be configured to store theinformation. For example, the information can be stored in anarrangement that can be referred to as a “neighbor table”. For example,the instructions to retrieve can include instructions to retrieve, fromthe data store 312, the information.

FIG. 4 includes a diagram that illustrates an example of a neighbortable 400, according to the disclosed technologies. With reference toFIGS. 1, 2, and 4 , for example, the specific node that has the neighbortable 400 can be the third node 254 (e.g., the third vehicle 214). Forexample, the neighbor table 400 can include fields for a vehicleidentification 402, a transceiver identification 404, a frequency 406, atime slot 408, and a timestamp 410. The network 260 can be associatedwith the channel 108. The frequency 406 can be associated with asub-band of the channel 108. The time slot 408 can be a time, in one ofthe cycles 102, at which the transmission-designated interval 116commences. For example, neighbor table 400 can include records 412. Forexample, the records 412 can include a first record 414 and a secondrecord 416. For example, the first record 414 can be for the first node250 (e.g., the first vehicle 210). For example, the second record 416can be for the second node 252 (e.g., the second vehicle 213). Thetimestamp 410 can be a time for a most recent entry into a record of theneighbor table 400.

Returning to FIG. 3 , for example, the system 300 can further include atransceiver 314. The transceiver 314 can be communicably coupled to theprocessor 302. The transceiver 314 can be configured to receive, fromone or more other nodes in the set, at least some of the information.For example, a transmission that includes such information can bereferred to as a “beacon message”.

FIG. 5 includes a diagram that illustrates an example of a beaconmessage 500 with an attached neighbor table 510, according to thedisclosed technologies. With reference to FIGS. 1, 2, and 5 , forexample, the specific node that receives the beacon message 500 can bethe third node 254 (e.g., the third vehicle 214). For example, the nodein the set 258 that transmits the beacon message 500 can be the secondnode 252 (e.g., the second vehicle 212). For example, the beacon message500 can include a vehicle identification 502, a transceiveridentification 504, a frequency 506, a time slot 508, and the neighbortable 510. The vehicle identification 502 can be for the second vehicle212. The transceiver identification 504 can be for the transceiver 228(disposed on the second vehicle 212) that transmitted the beacon message500. The network 260 can be associated with the channel 108. Thefrequency 506 can be associated with a sub-band, of the channel 108, atwhich the beacon message 500 was transmitted. The time slot 508 can be atime, in one of the cycles 102, at which the transmission of the beaconmessage 500 commenced. The neighbor table 510 can be a neighbor tablefor the second node 252 (e.g., the second vehicle 212).

Returning to FIG. 3 , the alternative transmission determination module308 can include instructions that function to control the processor 302to determine, based on the information, an existence, in the set ofnodes, of a non-transmission-designated interval that has a durationgreater than a threshold duration.

In a configuration: (1) the network can be associated with a channel and(2) the channel can be used for both a communications operation and aradar operation. Additionally, for example, the threshold duration canallow the transmission to have a sufficient amount of energy for theradar operation.

With reference to FIG. 1 , for example: (1) for the first sub-band 112:(a) if the threshold duration is from t₁₃ to t₂₃, then thenon-transmission-designated interval 120 (from t₁₂ to t₂₄) can be anon-transmission-designated interval that has a duration greater thanthe threshold duration and (b) if the threshold duration is from t₃₇ tot₄₇, then the non-transmission-designated interval 120 (from t₃₆ to t₄₈)can be a non-transmission-designated interval that has a durationgreater than the threshold duration and (2) for the second sub-band 114:(a) if the threshold duration is from t₁ to t₁₁, then thenon-transmission-designated interval 124 (from t₀ to t₁₂) can be anon-transmission-designated interval that has a duration greater thanthe threshold duration and (b) if the threshold duration is from t₂₅ tot₃₅, then the non-transmission-designated interval 124 (from t₂₄ to t₃₆)can be a non-transmission-designated interval that has a durationgreater than the threshold duration.

Returning to FIG. 3 , the schedule module 310 can include instructionsthat function to control the processor 302 to schedule, in response tothe existence of a non-transmission-designated interval that has aduration greater than the threshold duration, the specific node toproduce a transmission during the non-transmission-designated interval.

For example, the network can be associated with a channel. A frequencyof the specific node can be within a sub-band of the channel. Thenon-transmission-designated interval of the specific node can be withinthe sub-band. With reference to FIGS. 1 and 2 , for example, the network260 can be associated with the channel 108. The specific node can be thethird node 254 (e.g., the third vehicle 214). The frequency of the thirdnode 254 can be within the first sub-band 112 of the channel 108. Thenon-transmission-designated interval 120 of the third node 254 can bewithin the first sub-band 112.

Alternatively, for example, the network can be associated with achannel. A frequency of the specific node can be within a first sub-bandof the channel. The non-transmission-designated interval of the specificnode can be within a second sub-band of the channel. For example, thenetwork 260 can be associated with the channel 108. The specific nodecan be the third node 254 (e.g., the third vehicle 214). The frequencyof the third node 254 can be within the first sub-band 112 of thechannel 108. The non-transmission-designated interval 118 of the thirdnode 254 can be within the second sub-band 114 of the channel 108.

For example, the non-transmission-designated interval can occur, in thecycle, before the transmission-designated interval (e.g., a “wait”interval).

Returning to FIG. 3 , for example, the network can be associated with achannel. A frequency of the specific node can be within a specificsub-band of the channel. The memory 304 can further store a sub-banddetermination module 316. The sub-band determination module 316 caninclude instructions that function to control the processor 302 todetermine, in response to the existence of a non-transmission-designatedinterval that has a duration greater than the threshold duration, asub-band, of the channel, associated with thenon-transmission-designated interval. The instructions to schedule caninclude instructions to schedule, in response to the sub-band associatedwith the non-transmission-designated interval being the specificsub-band, the specific node to produce the transmission to betransmitted during a current cycle of a sequence of cycles. Theinstructions to schedule can include instructions to schedule, inresponse to the sub-band associated with the non-transmission-designatedinterval being different from the specific sub-band, the specific nodeto produce the transmission to be transmitted during a next cycle of thesequence of cycles.

With reference to FIGS. 1 and 2 , for example, the network 260 can beassociated with the channel 108. The specific node can be the third node254 (e.g., the third vehicle 214). The frequency of the third node 254can be within the first sub-band 112 of the channel 108. The currentcycle of the sequence of cycles can be the first cycle 104 of thesequence of cycles 102. The next cycle of the sequence of cycles can bethe second cycle 106 of the sequence of cycles 102. If the instructionsto determine the sub-band associated with thenon-transmission-designated interval determine that the sub-bandassociated with the non-transmission-designated interval 120 is thefirst sub-band 112, then the instructions to schedule can schedule thethird node 254 to produce the transmission to be transmitted during thefirst cycle 104. If the instructions to determine the sub-bandassociated with the non-transmission-designated interval determine thatthe sub-band associated with the non-transmission-designated interval120 is the second sub-band 114, then the instructions to schedule canschedule the third node 254 to produce the transmission to betransmitted during the second cycle 106.

Returning to FIG. 3 , for example, the memory 304 can further store atransmission traffic determination module 318, an interferencedetermination module 320, an alternative transmission cancelation module322, and an alternative transmission delay module 324. The transmissiontraffic determination module 318 can include instructions that functionto control the processor 302 to determine, in response to the sub-bandassociated with the non-transmission-designated interval being differentfrom the specific sub-band, if a degree of a transmission traffic in thenetwork is greater than a threshold degree. The interferencedetermination module 320 can include instructions that function tocontrol the processor 302 to determine, in response to a determinationthat the degree of the transmission traffic in the network is greaterthan the threshold degree, if having the specific node scheduled toproduce the transmission to be transmitted during the next cycle causesinterference with the transmission traffic in the network. Thealternative transmission cancelation module 322 can include instructionsthat function to control the processor 302 to cancel, in response to adetermination that having the specific node scheduled to produce thetransmission to be transmitted during the next cycle causes interferencewith the transmission traffic in the network, communication of thetransmission to be transmitted during the next cycle. The alternativetransmission delay module 324 can include instructions that function tocontrol the processor 302 to delay, in response to a determination thathaving the specific node scheduled to produce the transmission to betransmitted during the next cycle does not cause interference with thetransmission traffic in the network, communication of the transmissionto allow for reception of a transmission in the sub-band associated withthe non-transmission-designated interval.

With reference to FIGS. 1 and 2 , for example, in response to thesub-band associated with the non-transmission-designated interval 120being the second sub-band 114, the instructions to determine if thedegree of the transmission traffic in the network is greater than thethreshold degree can determine that the degree of the transmissiontraffic in the network 260 is greater than the threshold degree. Inresponse to the determination that the degree of the transmissiontraffic in the network 260 is greater than the threshold degree, theinstructions to determine if having the specific node scheduled toproduce the transmission to be transmitted during the next cycle causesinterference with the transmission traffic in the network can determineif having the third node 254 (e.g., the third vehicle 214) scheduled toproduce the transmission to be transmitted during the second cycle 106causes interference with the transmission traffic in the network 260. Inresponse to the determination that having the third node 254 scheduledto produce the transmission to be transmitted during the second cycle106 causes interference with the transmission traffic in the network260, the instructions to cancel communication of the transmission to betransmitted during the next cycle can cancel communication of thetransmission to be transmitted during the second cycle 106. In responseto the determination that having the third node 254 scheduled to producethe transmission to be transmitted during the second cycle 106 does notcause interference with the transmission traffic in the network 260, theinstructions to delay communication of the transmission to allow forreception of a transmission in the sub-band associated with thenon-transmission-designated interval can delay communication of thetransmission to allow for reception of a transmission in the secondsub-band 114.

Returning to FIG. 3 , for example, the system 300 can further includethe transceiver 314 and the data store 312. The transceiver 314 can becommunicably coupled to the processor 302. The transceiver 314 can beconfigured to receive the transmission in the sub-band associated withthe non-transmission-designated interval. The data store 312 can becommunicably coupled to the processor 302. The data store 312 can beconfigured to store the information. The memory 304 can further store abeacon determination module 326, a comparison module 328, and aninformation update module 330. The beacon determination module 326 caninclude instructions that function to control the processor 302 todetermine if the transmission in the sub-band associated with thenon-transmission-designated interval includes at least some of theinformation about the set of nodes. The comparison module 328 caninclude instructions that function to control the processor 302 tocompare, in response to a determination that the transmission in thesub-band associated with the non-transmission-designated interval doesinclude the at least some of the information, a timestamp of an item inthe at least some of the information with a timestamp of a correspondingitem in a data store. The information update module 330 can includeinstructions that function to control the processor 302 to update, inresponse to a result of a comparison between the timestamp of the itemin the at least some of the information and the timestamp of thecorresponding item in the data store being that the timestamp of theitem in the at least some of the information is associated with a latertime than the timestamp of the corresponding item in the data store, thecorresponding item in the data store to be replaced by the item in theat least some of the information.

With reference to FIGS. 1-5 , for example, the transceiver 314 canreceive the transmission in the second sub-band 114. The data store 312can store the information. For example, the information can be stored inthe neighbor table 400. The instructions to determine if thetransmission in the sub-band associated with thenon-transmission-designated interval includes the at least some of theinformation about the set of nodes can determine that the transmissionin the second sub-band 114 includes the at least some of the informationabout the set 258 of nodes. For example, the transmission can be thebeacon message 500. In response to the determination that thetransmission in the second sub-band 114 does include the at least someof the information, the instructions to compare the timestamp of theitem in the at least some of the information with the timestamp of thecorresponding item in the data store can compare the timestamp 410 of arecord for the first node 250 (e.g., the first vehicle 210) in theneighbor table 510 of the beacon message 500 with the timestamp 410 ofthe record 414 for the first node 250 in the neighbor table 400. Inresponse to the result of the comparison between the timestamp 410 ofthe record for the first node 250 in the neighbor table 510 of thebeacon message 500 with the timestamp 410 of the record 414 for thefirst node 250 in the neighbor table 400 being that the timestamp 410 ofthe record for the first node 250 in the neighbor table 510 of thebeacon message 500 is associated with a later time than the timestamp410 of the record 414 for the first node 250 in the neighbor table 400,the instructions to update the corresponding item in the data store canupdate the record 414 for the first node 250 in the neighbor table 400to be replaced by the record for the first node 250 in the neighbortable 510 of the beacon message 500.

Returning to FIG. 3 , for example, the memory 304 can further store asub-band reconsideration module 332. The sub-band reconsideration module332 can include instructions that function to control the processor 302to determine, based on the item in the at least some of the information,if the frequency of the specific node needs to be changed to be within asub-band, of the channel, different from the specific sub-band.

With reference to FIGS. 1, 2, 4, and 5 , for example, the instructionsto determine, based on the item in the at least some of the information,if the frequency of the specific node needs to be changed to be within asub-band, of the channel, different from the specific sub-band candetermine, based on the record for the first node 250 in the neighbortable 510 of the beacon message 500 including information that thefrequency 406 of the first node 250 (e.g., the first vehicle 210) isassociated with the second sub-band 114, that the frequency of the thirdnode 254 (e.g., the third vehicle 214) needs to be changed to be withina sub-band, of the channel 108, different from the second sub-band 114.

For example, the non-transmission-designated interval can occur, in thecycle, after the transmission-designated interval (e.g., an “idle”interval).

Returning to FIG. 3 , for example, the network can be associated with achannel. The memory 304 can further store an alternative transmissiontiming module 334, the transmission traffic determination module 318,the interference determination module 320, the alternative transmissioncancelation module 322, and the alternative transmission delay module324. The alternative transmission timing module 334 can includeinstructions that function to control the processor 302 to determine ifthe specific node is scheduled to produce the transmission to betransmitted during a current cycle of a sequence of cycles. Thetransmission traffic determination module 318 can include instructionsthat function to control the processor 302 to determine, in response toa determination that the specific node is not scheduled to produce thetransmission to be transmitted during the current cycle, if a degree ofa transmission traffic in the network is greater than a thresholddegree. The interference determination module 320 can includeinstructions that function to control the processor 302 to determine, inresponse to a determination that the degree of the transmission trafficin the network is greater than the threshold degree, if having thespecific node scheduled to produce the transmission to be transmittedduring a next cycle, of the sequence of cycles, causes interference withthe transmission traffic in the network. The alternative transmissioncancelation module 322 can include instructions that function to controlthe processor 302 to cancel, in response to a determination that havingthe specific node scheduled to produce the transmission to betransmitted during the next cycle causes interference with thetransmission traffic in the network, communication of the transmissionto be transmitted during the next cycle. The alternative transmissiondelay module 324 can include instructions that function to control theprocessor 302 to delay, in response to a determination that having thespecific node scheduled to produce the transmission to be transmittedduring the next cycle does not cause interference with the transmissiontraffic in the network, communication of the transmission to allow forreception of a transmission in the sub-band associated with thenon-transmission-designated interval.

With reference to FIGS. 1 and 2 , for example, the current cycle of thesequence of cycles can be the first cycle 104 of the sequence of cycles102. The next cycle of the sequence of cycles can be the second cycle106 of the sequence of cycles 102. The instructions to determine if thespecific node is scheduled to produce the transmission to be transmittedduring the current cycle of the sequence of cycles can determine if thethird node 254 (e.g., the third vehicle 214) is scheduled to produce thetransmission to be transmitted during the first cycle 104. In responseto the determination that the third node 254 is not scheduled to producethe transmission to be transmitted during the first cycle 104, theinstructions to determine if the degree of the transmission traffic inthe network is greater than the threshold degree can determine that thedegree of the transmission traffic in the network 260 is greater thanthe threshold degree. In response to the determination that the degreeof the transmission traffic in the network 260 is greater than thethreshold degree, the instructions to determine if having the specificnode scheduled to produce the transmission to be transmitted during thenext cycle causes interference with the transmission traffic in thenetwork can determine if having the third node 254 scheduled to producethe transmission to be transmitted during the second cycle 106 causesinterference with the transmission traffic in the network 260. Inresponse to the determination that having the third node 254 scheduledto produce the transmission to be transmitted during the second cycle106 causes interference with the transmission traffic in the network260, the instructions to cancel communication of the transmission to betransmitted during the next cycle can cancel communication of thetransmission to be transmitted during the second cycle 106. In responseto the determination that having the third node 254 scheduled to producethe transmission to be transmitted during the second cycle 106 does notcause interference with the transmission traffic in the network 260, theinstructions to delay communication of the transmission to allow forreception of a transmission in the sub-band associated with thenon-transmission-designated interval can delay communication of thetransmission to allow for reception of a transmission in the secondsub-band 114.

Returning to FIG. 3 , for example, the system 300 can further includethe transceiver 314 and the data store 312. The transceiver 314 can becommunicably coupled to the processor 302. The transceiver 314 can beconfigured to receive the transmission in the sub-band associated withthe non-transmission-designated interval. The data store 312 can becommunicably coupled to the processor 302. The data store 312 can beconfigured to store the information. The memory 304 can further storethe beacon determination module 326, the comparison module 328, and theinformation update module 330. The beacon determination module 326 caninclude instructions that function to control the processor 302 todetermine if the transmission in the sub-band associated with thenon-transmission-designated interval includes at least some of theinformation about the set of nodes. The comparison module 328 caninclude instructions that function to control the processor 302 tocompare, in response to a determination that the transmission in thesub-band associated with the non-transmission-designated interval doesinclude the at least some of the information, a timestamp of an item inthe at least some of the information with a timestamp of a correspondingitem in a data store. The information update module 330 can includeinstructions that function to control the processor 302 to update, inresponse to a result of a comparison between the timestamp of the itemin the at least some of the information and the timestamp of thecorresponding item in the data store being that the timestamp of theitem in the at least some of the information is associated with a latertime than the timestamp of the corresponding item in the data store, thecorresponding item in the data store to be replaced by the item in theat least some of the information.

With reference to FIGS. 1-5 , for example, the transceiver 314 canreceive the transmission in the second sub-band 114. The data store 312can store the information. For example, the information can be stored inthe neighbor table 400. The instructions to determine if thetransmission in the sub-band associated with thenon-transmission-designated interval includes the at least some of theinformation about the set of nodes can determine that the transmissionin the second sub-band 114 includes the at least some of the informationabout the set 258 of nodes. For example, the transmission can be thebeacon message 500. In response to the determination that thetransmission in the second sub-band 114 does include the at least someof the information, the instructions to compare the timestamp of theitem in the at least some of the information with the timestamp of thecorresponding item in the data store can compare the timestamp 410 of arecord for the first node 250 (e.g., the first vehicle 210) in theneighbor table 510 of the beacon message 500 with the timestamp 410 ofthe record 414 for the first node 250 in the neighbor table 400. Inresponse to the result of the comparison between the timestamp 410 ofthe record for the first node 250 in the neighbor table 510 of thebeacon message 500 with the timestamp 410 of the record 414 for thefirst node 250 in the neighbor table 400 being that the timestamp 410 ofthe record for the first node 250 in the neighbor table 510 of thebeacon message 500 is associated with a later time than the timestamp410 of the record 414 for the first node 250 in the neighbor table 400,the instructions to update the corresponding item in the data store canupdate the record 414 for the first node 250 in the neighbor table 400to be replaced by the record for the first node 250 in the neighbortable 510 of the beacon message 500.

Returning to FIG. 3 , for example, a frequency of the specific node canbe within a specific sub-band of the channel. The memory 304 can furtherstore the sub-band reconsideration module 332. The sub-bandreconsideration module 332 can include instructions that function tocontrol the processor 302 to determine, based on the item in the atleast some of the information, if the frequency of the specific nodeneeds to be changed to be within a sub-band, of the channel, differentfrom the specific sub-band.

With reference to FIGS. 1, 2, 4, and 5 , for example, the frequency ofthe third node 254 can be within the second sub-band 114 of the channel108. The instructions to determine, based on the item in the at leastsome of the information, if the frequency of the specific node needs tobe changed to be within a sub-band, of the channel, different from thespecific sub-band can determine, based on the record for the first node250 in the neighbor table 510 of the beacon message 500 includinginformation that the frequency 406 of the first node 250 (e.g., thefirst vehicle 210) is associated with the second sub-band 114, that thefrequency of the third node 254 (e.g., the third vehicle 214) needs tobe changed to be within a sub-band, of the channel 108, different fromthe second sub-band 114.

In a configuration, with reference to FIGS. 1 and 2 , for example, aduration of each of the cycles 102 can be a function of a count of nodesin the set 258 of nodes. For example, the duration of each of the cycles102 can be equal to 24 time slots and the count of nodes in the set 258can be three: the first node 250 (e.g., the first vehicle 210), thesecond node 252 (e.g., the second vehicle 212), and the third node 254(e.g., the third vehicle 214). For example, the duration of each of thecycles 102 (e.g., 24 time slots) can determine one or more of: (1) aduty cycle of each of the transmission-designated intervals 116 and 122(e.g., 8 time slots) or (2) a number of available time slots (e.g., 16time slots). For example, changing the duration of each of the cycles102 can directly affect throughput through the network 260 becausechanging the duration of each of the cycles 102 can allow one or moreof: (1) the duty cycle of each of the transmission-designated intervals116 and 122 to be changed or (2) the number of available time slots tobe changed. For example, the duration of each of the cycles 102 can beincreased one or more of: (1) when the number of available time slots islimited or (2) to accommodate additional node in the set 258 (e.g., thefourth node 256 (e.g., the fourth vehicle 216) joins the set 258).Conversely, for example, the duration of each of the cycles 102 can bedecreased one or more of: (1) when the count of nodes in the set 258 issmall or (2) to avoid a large number of empty time slots so thatthroughput through the network 260 can be improved.

Additionally, for example, in response to a determination to produce atransmission during a non-transmission-designated interval (e.g., any ofthe non-transmission-designated intervals 118, 120, 124, or 126), aduration of such a transmission can be a function of one or more of: (1)the count of nodes in the set 258 or (2) the degree of the transmissiontraffic in the network 260.

In a configuration, the instructions to schedule can includeinstructions to schedule, based on a probabilistic parameter, thespecific node to produce the transmission. With reference to FIGS. 1 and2 , for example, the probabilistic parameter can be a function of one ormore of: (1) a count of nodes in the set 258 of nodes or (2) a degree ofa transmission traffic in the network 260. For example, probabilisticparameter can provide a tradeoff between throughput through the network260 and an avoidance of collisions of transmissions and/or interferenceamong transmissions. For example, the probabilistic parameter can bebinary in which: (1) a value of zero can cause a transmission not to bescheduled and (2) a value of one can cause the transmission to bescheduled.

FIGS. 6A-6C are a flow diagram that illustrates an example of a method600 that is associated with exploiting a non-transmission-designatedinterval in a cycle of a protocol, according to the disclosedtechnologies. For example, the protocol can be a medium access protocol.The method 600 is described from the perspective of the system 300illustrated in FIG. 3 . Although the method 600 is described incombination with the system 300 illustrated in FIG. 3 , one of skill inthe art understands, in light of the description herein, that the method600 is not limited to being implemented by the system 300 illustrated inFIG. 3 . Rather, the system 300 illustrated in FIG. 3 is an example of asystem that may be used to implement the method 600. Additionally,although the method 600 is illustrated as a generally serial process,various aspects of the method 600 may be able to be executed inparallel.

In FIG. 6A, in the method 600, at an operation 602, for example, theretrieval module 306 can retrieve, by a specific node associated with aset of nodes in a network, information about the set of nodes. Forexample, the specific node can be disposed on a vehicle. The informationcan include, for a node in the set, identifications of a frequency and atime slot of a transmission-designated interval in a cycle of theprotocol. For example, the retrieval module 306 can retrieve, from adata store, the information. For example, the information can be storedin an arrangement that can be referred to as a “neighbor table”.

Additionally, at an operation 604, for example, the system 300 canreceive, via a transceiver and from one or more other nodes in the set,at least some of the information. For example, a transmission thatincludes such information can be referred to as a “beacon message”.

For example, the specific node can be an element of the set of nodes.

Alternatively, for example, the specific node can be a candidate to jointhe set of nodes.

At an operation 606, for example, the alternative transmissiondetermination module 308 can determine, based on the information, anexistence, in the set of nodes, of a non-transmission-designatedinterval that has a duration greater than a threshold duration.

In a configuration: (1) the network can be associated with a channel and(2) the channel can be used for both a communications operation and aradar operation. Additionally, for example, the threshold duration canallow the transmission to have a sufficient amount of energy for theradar operation.

At an operation 608, for example, the schedule module 310 can schedule,in response to the existence of a non-transmission-designated intervalthat has a duration greater than the threshold duration, the specificnode to produce a transmission during the non-transmission-designatedinterval.

For example, the network can be associated with a channel. A frequencyof the specific node can be within a sub-band of the channel. Thenon-transmission-designated interval of the specific node can be withinthe sub-band.

Alternatively, for example, the network can be associated with achannel. A frequency of the specific node can be within a first sub-bandof the channel. The non-transmission-designated interval of the specificnode can be within a second sub-band of the channel.

In a configuration, the non-transmission-designated interval can occur,in the cycle, before the transmission-designated interval (e.g., a“wait” interval).

For example, the network can be associated with a channel. A frequencyof the specific node can be within a specific sub-band of the channel.

Additionally, in this configuration, at an operation 610, for example,the sub-band determination module 316 can determine, in response to theexistence of a non-transmission-designated interval that has a durationgreater than the threshold duration, a sub-band, of the channel,associated with the non-transmission-designated interval.

In this configuration, at the operation 608, the schedule module 310 canschedule: (1) in response to the sub-band associated with thenon-transmission-designated interval being the specific sub-band, thespecific node to produce the transmission to be transmitted during acurrent cycle of a sequence of cycles or (2) in response to the sub-bandassociated with the non-transmission-designated interval being differentfrom the specific sub-band, the specific node to produce thetransmission to be transmitted during a next cycle of the sequence ofcycles.

Additionally, in this configuration, at an operation 612, for example,the transmission traffic determination module 318 can determine, inresponse to the sub-band associated with the non-transmission-designatedinterval being different from the specific sub-band, if a degree of atransmission traffic in the network is greater than a threshold degree.

In this configuration, at an operation 614, for example, theinterference determination module 320 can determine, in response to adetermination that the degree of the transmission traffic in the networkis greater than the threshold degree, if having the specific nodescheduled to produce the transmission to be transmitted during the nextcycle causes interference with the transmission traffic in the network.

In this configuration, in FIG. 6B, in the method 600, at an operation616, for example, the alternative transmission cancelation module 322can cancel, in response to a determination that having the specific nodescheduled to produce the transmission to be transmitted during the nextcycle causes interference with the transmission traffic in the network,communication of the transmission to be transmitted during the nextcycle.

In this configuration, at an operation 618, for example, the alternativetransmission delay module 324 can delay, in response to a determinationthat having the specific node scheduled to produce the transmission tobe transmitted during the next cycle does not cause interference withthe transmission traffic in the network, communication of thetransmission to allow for reception of a transmission in the sub-bandassociated with the non-transmission-designated interval.

Additionally, in this configuration, at an operation 620, for example,the system 300 can receive, via a transceiver, the transmission in thesub-band associated with the non-transmission-designated interval.

In this configuration, at an operation 622, for example, the beacondetermination module 326 can determine if the transmission in thesub-band associated with the non-transmission-designated intervalincludes at least some of the information about the set of nodes.

In this configuration, in FIG. 6C, in the method 600, at an operation624, for example, the comparison module 328 can compare, in response toa determination that the transmission in the sub-band associated withthe non-transmission-designated interval does include the at least someof the information, a timestamp of an item in the at least some of theinformation with a timestamp of a corresponding item in a data store.

In this configuration, at an operation 626, for example, the informationupdate module 330 can update, in response to a result of a comparisonbetween the timestamp of the item in the at least some of theinformation and the timestamp of the corresponding item in the datastore being that the timestamp of the item in the at least some of theinformation is associated with a later time than the timestamp of thecorresponding item in the data store, the corresponding item in the datastore to be replaced by the item in the at least some of theinformation.

Additionally, in this configuration, at an operation 628, for example,the sub-band reconsideration module 332 can determine, based on the itemin the at least some of the information, if the frequency of thespecific node needs to be changed to be within a sub-band, of thechannel, different from the specific sub-band.

In a configuration, non-transmission-designated interval can occur, inthe cycle, after the transmission-designated interval (e.g., an “idle”interval).

For example, the network can be associated with a channel.

Additionally, in FIG. 6A, in the method 600, in this configuration, atan operation 630, for example, the alternative transmission timingmodule 334 can determine if the specific node is scheduled to producethe transmission to be transmitted during a current cycle of a sequenceof cycles.

In this configuration, at an operation 632, for example, thetransmission traffic determination module 318 can determine, in responseto a determin+ation that the specific node is not scheduled to producethe transmission to be transmitted during the current cycle, if a degreeof a transmission traffic in the network is greater than a thresholddegree.

In this configuration, in FIG. 6B, in the method 600, at an operation634, for example, the interference determination module can determine,in response to a determination that the degree of the transmissiontraffic in the network is greater than the threshold degree, if havingthe specific node scheduled to produce the transmission to betransmitted during a next cycle, of the sequence of cycles, causesinterference with the transmission traffic in the network.

In this configuration, at an operation 636, for example, the alternativetransmission cancelation module 322 can cancel, in response to adetermination that having the specific node scheduled to produce thetransmission to be transmitted during the next cycle causes interferencewith the transmission traffic in the network, communication of thetransmission to be transmitted during the next cycle.

In this configuration, at an operation 638, for example, the alternativetransmission delay module 324 can delay, in response to a determinationthat having the specific node scheduled to produce the transmission tobe transmitted during the next cycle does not cause interference withthe transmission traffic in the network, communication of thetransmission to allow for reception of a transmission in the sub-bandassociated with the non-transmission-designated interval.

Additionally, in this configuration, at an operation 640, for example,the system 300 can receive, via a transceiver, the transmission in thesub-band associated with the non-transmission-designated interval.

In this configuration, in FIG. 6C, in the method 600, at an operation642, for example, the beacon determination module 326 can determine ifthe transmission in the sub-band associated with thenon-transmission-designated interval includes at least some of theinformation about the set of nodes.

In this configuration, at an operation 644, for example, the comparisonmodule 328 can compare, in response to a determination that thetransmission in the sub-band associated with thenon-transmission-designated interval does include the at least some ofthe information, a timestamp of an item in the at least some of theinformation with a timestamp of a corresponding item in a data store.

In this configuration, at an operation 646, for example, the informationupdate module 330 can update, in response to a result of a comparisonbetween the timestamp of the item in the at least some of theinformation and the timestamp of the corresponding item in the datastore being that the timestamp of the item in the at least some of theinformation is associated with a later time than the timestamp of thecorresponding item in the data store, the corresponding item in the datastore to be replaced by the item in the at least some of theinformation.

Additionally, in this configuration, for example, a frequency of thespecific node can be within a specific sub-band of the channel.

In this configuration, at an operation 648, for example, the sub-bandreconsideration module 332 can determine, based on the item in the atleast some of the information, if the frequency of the specific nodeneeds to be changed to be within a sub-band, of the channel, differentfrom the specific sub-band.

In a configuration, for example, a duration of the cycle can be afunction of a count of nodes in the set. For example, the duration ofeach of the cycles can determine one or more of: (1) a duty cycle ofeach of the transmission-designated intervals or (2) a number ofavailable time slots. For example, changing the duration of each of thecycles can directly affect throughput through the network becausechanging the duration of each of the cycles can allow one or more of:(1) the duty cycle of each of the transmission-designated intervals tobe changed or (2) the number of available time slots to be changed. Forexample, the duration of each of the cycles can be increased one or moreof: (1) when the number of available time slots is limited or (2) toaccommodate additional node in the set. Conversely, for example, theduration of each of the cycles can be decreased one or more of: (1) whenthe count of nodes in the set is small or (2) to avoid a large number ofempty time slots so that throughput through the network can be improved.

Additionally, for example, in response to a determination to produce atransmission during a non-transmission-designated interval, a durationof such a transmission can be a function of one or more of: (1) thecount of nodes in the set or (2) a degree of a transmission traffic inthe network.

In a configuration, for example, at the operation 608, the schedulemodule 310 can schedule, based on a probabilistic parameter, thespecific node to produce the transmission. For example, theprobabilistic parameter can be a function of one or more of: (1) a countof nodes in the set or (2) a degree of a transmission traffic in thenetwork. For example, probabilistic parameter can provide a tradeoffbetween throughput through the network and an avoidance of collisions oftransmissions and/or interference among transmissions. For example, theprobabilistic parameter can be binary in which: (1) a value of zero cancause a transmission not to be schedule and (2) a value of one can causethe transmission to be schedule.

FIG. 7 includes a block diagram that illustrates an example of elementsdisposed on a vehicle 700, according to the disclosed technologies. Asused herein, a “vehicle” can be any form of powered transport. In one ormore implementations, the vehicle 700 can be an automobile. Whilearrangements described herein are with respect to automobiles, one ofskill in the art understands, in light of the description herein, thatembodiments are not limited to automobiles.

In some embodiments, the vehicle 700 can be configured to switchselectively between an automated mode, one or more semi-automatedoperational modes, and/or a manual mode. Such switching can beimplemented in a suitable manner, now known or later developed. As usedherein, “manual mode” can refer that all of or a majority of thenavigation and/or maneuvering of the vehicle 700 is performed accordingto inputs received from a user (e.g., human driver). In one or morearrangements, the vehicle 700 can be a conventional vehicle that isconfigured to operate in only a manual mode.

In one or more embodiments, the vehicle 700 can be an automated vehicle.As used herein, “automated vehicle” can refer to a vehicle that operatesin an automated mode. As used herein, “automated mode” can refer tonavigating and/or maneuvering the vehicle 700 along a travel route usingone or more computing systems to control the vehicle 700 with minimal orno input from a human driver. In one or more embodiments, the vehicle700 can be highly automated or completely automated. In one embodiment,the vehicle 700 can be configured with one or more semi-automatedoperational modes in which one or more computing systems perform aportion of the navigation and/or maneuvering of the vehicle along atravel route, and a vehicle operator (i.e., driver) provides inputs tothe vehicle 700 to perform a portion of the navigation and/ormaneuvering of the vehicle 700 along a travel route.

For example, Standard J3016, Taxonomy and Definitions for Terms Relatedto Driving Automation Systems for On-Road Motor Vehicles, issued by theSociety of Automotive Engineers (SAE) International on Jan. 16, 2014,and most recently revised on Jun. 15, 2018, defines six levels ofdriving automation. These six levels include: (1) level 0, noautomation, in which all aspects of dynamic driving tasks are performedby a human driver; (2) level 1, driver assistance, in which a driverassistance system, if selected, can execute, using information about thedriving environment, either steering or acceleration/deceleration tasks,but all remaining driving dynamic tasks are performed by a human driver;(3) level 2, partial automation, in which one or more driver assistancesystems, if selected, can execute, using information about the drivingenvironment, both steering and acceleration/deceleration tasks, but allremaining driving dynamic tasks are performed by a human driver; (4)level 3, conditional automation, in which an automated driving system,if selected, can execute all aspects of dynamic driving tasks with anexpectation that a human driver will respond appropriately to a requestto intervene; (5) level 4, high automation, in which an automateddriving system, if selected, can execute all aspects of dynamic drivingtasks even if a human driver does not respond appropriately to a requestto intervene; and (6) level 5, full automation, in which an automateddriving system can execute all aspects of dynamic driving tasks underall roadway and environmental conditions that can be managed by a humandriver.

The vehicle 700 can include various elements. The vehicle 700 can haveany combination of the various elements illustrated in FIG. 7 . Invarious embodiments, it may not be necessary for the vehicle 700 toinclude all of the elements illustrated in FIG. 7 . Furthermore, thevehicle 700 can have elements in addition to those illustrated in FIG. 7. While the various elements are illustrated in FIG. 7 as being locatedwithin the vehicle 700, one or more of these elements can be locatedexternal to the vehicle 700. Furthermore, the elements illustrated maybe physically separated by large distances. For example, as described,one or more components of the disclosed system can be implemented withinthe vehicle 700 while other components of the system can be implementedwithin a cloud-computing environment, as described below. For example,the elements can include one or more processors 710, one or more datastores 715, a sensor system 720, an input system 730, an output system735, vehicle systems 740, one or more actuators 750, one or moreautomated driving modules 760, a communications system 770, and thesystem 200 for determining a content of a message used to coordinateinteractions among vehicles.

In one or more arrangements, the one or more processors 710 can be amain processor of the vehicle 700. For example, the one or moreprocessors 710 can be an electronic control unit (ECU). For example,functions and/or operations of the processor 302 (illustrated in FIG. 3) can be realized by the one or more processors 710.

The one or more data stores 715 can store, for example, one or moretypes of data. For example, functions and/or operations of the memory304, the data store 312 (illustrated in FIG. 3 ), or any combinationthereof can be realized by the one or more data stores 715. The one ormore data stores 715 can include volatile memory and/or non-volatilememory. Examples of suitable memory for the one or more data stores 715can include Random-Access Memory (RAM), flash memory, Read-Only Memory(ROM), Programmable Read-Only Memory (PROM), Erasable ProgrammableRead-Only Memory (EPROM), Electrically Erasable Programmable Read-OnlyMemory (EEPROM), registers, magnetic disks, optical disks, hard drives,any other suitable storage medium, or any combination thereof. The oneor more data stores 715 can be a component of the one or more processors710. Additionally or alternatively, the one or more data stores 715 canbe operatively connected to the one or more processors 710 for usethereby. As used herein, “operatively connected” can include direct orindirect connections, including connections without direct physicalcontact. As used herein, a statement that a component can be “configuredto” perform an operation can be understood to mean that the componentrequires no structural alterations, but merely needs to be placed intoan operational state (e.g., be provided with electrical power, have anunderlying operating system running, etc.) in order to perform theoperation.

In one or more arrangements, the one or more data stores 715 can storemap data 716. The map data 716 can include maps of one or moregeographic areas. In some instances, the map data 716 can includeinformation or data on roads, traffic control devices, road markings,structures, features, and/or landmarks in the one or more geographicareas. The map data 716 can be in any suitable form. In some instances,the map data 716 can include aerial views of an area. In some instances,the map data 716 can include ground views of an area, including360-degree ground views. The map data 716 can include measurements,dimensions, distances, and/or information for one or more items includedin the map data 716 and/or relative to other items included in the mapdata 716. The map data 716 can include a digital map with informationabout road geometry. The map data 716 can be high quality and/or highlydetailed.

In one or more arrangements, the map data 716 can include one or moreterrain maps 717. The one or more terrain maps 717 can includeinformation about the ground, terrain, roads, surfaces, and/or otherfeatures of one or more geographic areas. The one or more terrain maps717 can include elevation data of the one or more geographic areas. Themap data 716 can be high quality and/or highly detailed. The one or moreterrain maps 717 can define one or more ground surfaces, which caninclude paved roads, unpaved roads, land, and other things that define aground surface.

In one or more arrangements, the map data 716 can include one or morestatic obstacle maps 718. The one or more static obstacle maps 718 caninclude information about one or more static obstacles located withinone or more geographic areas. A “static obstacle” can be a physicalobject whose position does not change (or does not substantially change)over a period of time and/or whose size does not change (or does notsubstantially change) over a period of time. Examples of staticobstacles can include trees, buildings, curbs, fences, railings,medians, utility poles, statues, monuments, signs, benches, furniture,mailboxes, large rocks, and hills. The static obstacles can be objectsthat extend above ground level. The one or more static obstaclesincluded in the one or more static obstacle maps 718 can have locationdata, size data, dimension data, material data, and/or other dataassociated with them. The one or more static obstacle maps 718 caninclude measurements, dimensions, distances, and/or information for oneor more static obstacles. The one or more static obstacle maps 718 canbe high quality and/or highly detailed. The one or more static obstaclemaps 718 can be updated to reflect changes within a mapped area.

In one or more arrangements, the one or more data stores 715 can storesensor data 719. As used herein, “sensor data” can refer to anyinformation about the sensors with which the vehicle 700 can be equippedincluding the capabilities of and other information about such sensors.The sensor data 719 can relate to one or more sensors of the sensorsystem 720. For example, in one or more arrangements, the sensor data719 can include information about one or more lidar sensors 724 of thesensor system 720.

In some arrangements, at least a portion of the map data 716 and/or thesensor data 719 can be located in one or more data stores 715 that arelocated onboard the vehicle 700. Alternatively or additionally, at leasta portion of the map data 716 and/or the sensor data 719 can be locatedin one or more data stores 715 that are located remotely from thevehicle 700.

The sensor system 720 can include one or more sensors. As used herein, a“sensor” can refer to any device, component, and/or system that candetect and/or sense something. The one or more sensors can be configuredto detect and/or sense in real-time. As used herein, the term“real-time” can refer to a level of processing responsiveness that isperceived by a user or system to be sufficiently immediate for aparticular process or determination to be made, or that enables theprocessor to keep pace with some external process.

In arrangements in which the sensor system 720 includes a plurality ofsensors, the sensors can work independently from each other.Alternatively, two or more of the sensors can work in combination witheach other. In such a case, the two or more sensors can form a sensornetwork. The sensor system 720 and/or the one or more sensors can beoperatively connected to the one or more processors 710, the one or moredata stores 715, and/or another element of the vehicle 700 (includingany of the elements illustrated in FIG. 7 ). The sensor system 720 canacquire data of at least a portion of the external environment of thevehicle 700 (e.g., nearby vehicles). The sensor system 720 can includeany suitable type of sensor. Various examples of different types ofsensors are described herein. However, one of skill in the artunderstands that the embodiments are not limited to the particularsensors described herein.

The sensor system 720 can include one or more vehicle sensors 721. Theone or more vehicle sensors 721 can detect, determine, and/or senseinformation about the vehicle 700 itself. In one or more arrangements,the one or more vehicle sensors 721 can be configured to detect and/orsense position and orientation changes of the vehicle 700 such as, forexample, based on inertial acceleration. In one or more arrangements,the one or more vehicle sensors 721 can include one or moreaccelerometers, one or more gyroscopes, an inertial measurement unit(IMU), a dead-reckoning system, a global navigation satellite system(GNSS), a global positioning system (GPS), a navigation system 747, and/or other suitable sensors. The one or more vehicle sensors 721 can beconfigured to detect and/or sense one or more characteristics of thevehicle 700. In one or more arrangements, the one or more vehiclesensors 721 can include a speedometer to determine a current speed ofthe vehicle 700.

Alternatively or additionally, the sensor system 720 can include one ormore environment sensors 722 configured to acquire and/or sense drivingenvironment data. As used herein, “driving environment data” can includedata or information about the external environment in which a vehicle islocated or one or more portions thereof. For example, the one or moreenvironment sensors 722 can be configured to detect, quantify, and/orsense obstacles in at least a portion of the external environment of thevehicle 700 and/or information/data about such obstacles. Such obstaclesmay be stationary objects and/or dynamic objects. The one or moreenvironment sensors 722 can be configured to detect, measure, quantify,and/or sense other things in the external environment of the vehicle 700such as, for example, lane markers, signs, traffic lights, trafficsigns, lane lines, crosswalks, curbs proximate the vehicle 700, off-roadobjects, etc.

Various examples of sensors of the sensor system 720 are describedherein. The example sensors may be part of the one or more vehiclesensors 721 and/or the one or more environment sensors 722. However, oneof skill in the art understands that the embodiments are not limited tothe particular sensors described.

In one or more arrangements, the one or more environment sensors 722 caninclude one or more radar sensors 723, one or more lidar sensors 724,one or more sonar sensors 725, and/or one more cameras 726. In one ormore arrangements, the one or more cameras 726 can be one or more highdynamic range (HDR) cameras or one or more infrared (IR) cameras. Forexample, the one or more cameras 726 can be used to record a reality ofa state of an item of information that can appear in the digital map.For example, functions and/or operations of the transceiver 314(illustrated in FIG. 3 ) can be realized by the one or more radarsensors 723.

The input system 730 can include any device, component, system, element,arrangement, or groups thereof that enable information/data to beentered into a machine. The input system 730 can receive an input from avehicle passenger (e.g., a driver or a passenger). The output system 735can include any device, component, system, element, arrangement, orgroups thereof that enable information/data to be presented to a vehiclepassenger (e.g., a driver or a passenger).

Various examples of the one or more vehicle systems 740 are illustratedin FIG. 7 . However, one of skill in the art understands that thevehicle 700 can include more, fewer, or different vehicle systems.Although particular vehicle systems can be separately defined, each orany of the systems or portions thereof may be otherwise combined orsegregated via hardware and/or software within the vehicle 700. Forexample, the one or more vehicle systems 740 can include a propulsionsystem 741, a braking system 742, a steering system 743, a throttlesystem 744, a transmission system 745, a signaling system 746, and/orthe navigation system 747. Each of these systems can include one or moredevices, components, and/or a combination thereof, now known or laterdeveloped.

The navigation system 747 can include one or more devices, applications,and/or combinations thereof, now known or later developed, configured todetermine the geographic location of the vehicle 700 and/or to determinea travel route for the vehicle 700. The navigation system 747 caninclude one or more mapping applications to determine a travel route forthe vehicle 700. The navigation system 747 can include a globalpositioning system, a local positioning system, a geolocation system,and/or a combination thereof.

The one or more actuators 750 can be any element or combination ofelements operable to modify, adjust, and/or alter one or more of thevehicle systems 740 or components thereof responsive to receivingsignals or other inputs from the one or more processors 710 and/or theone or more automated driving modules 760. Any suitable actuator can beused. For example, the one or more actuators 750 can include motors,pneumatic actuators, hydraulic pistons, relays, solenoids, and/orpiezoelectric actuators.

The one or more processors 710 and/or the one or more automated drivingmodules 760 can be operatively connected to communicate with the variousvehicle systems 740 and/or individual components thereof. For example,the one or more processors 710 and/or the one or more automated drivingmodules 760 can be in communication to send and/or receive informationfrom the various vehicle systems 740 to control the movement, speed,maneuvering, heading, direction, etc. of the vehicle 700. The one ormore processors 710 and/or the one or more automated driving modules 760may control some or all of these vehicle systems 740 and, thus, may bepartially or fully automated.

The one or more processors 710 and/or the one or more automated drivingmodules 760 may be operable to control the navigation and/or maneuveringof the vehicle 700 by controlling one or more of the vehicle systems 740and/or components thereof. For example, when operating in an automatedmode, the one or more processors 710 and/or the one or more automateddriving modules 760 can control the direction and/or speed of thevehicle 700. The one or more processors 710 and/or the one or moreautomated driving modules 760 can cause the vehicle 700 to accelerate(e.g., by increasing the supply of fuel provided to the engine),decelerate (e.g., by decreasing the supply of fuel to the engine and/orby applying brakes) and/or change direction (e.g., by turning the fronttwo wheels). As used herein, “cause” or “causing” can mean to make,force, compel, direct, command, instruct, and/or enable an event oraction to occur or at least be in a state where such event or action mayoccur, either in a direct or indirect manner.

The communications system 770 can include one or more receivers 771and/or one or more transmitters 772. For example, functions and/oroperations of the transceiver 314 (illustrated in FIG. 3 ) can berealized by the one or more receivers 771 and the one or moretransmitters 772. The communications system 770 can receive and transmitone or more messages through one or more wireless communicationschannels. For example, the one or more wireless communications channelscan be in accordance with the Institute of Electrical and ElectronicsEngineers (IEEE) 802.11p standard to add wireless access in vehicularenvironments (WAVE) (the basis for Dedicated Short-Range Communications(DSRC)), the 3rd Generation Partnership Project (3GPP) Long-TermEvolution (LTE) Vehicle-to-Everything (V2X) (LTE-V2X) standard(including the LTE Uu interface between a mobile communication deviceand an Evolved Node B of the Universal Mobile TelecommunicationsSystem), the 3GPP fifth generation (5G) New Radio (NR)Vehicle-to-Everything (V2X) standard (including the 5G NR Uu interface),or the like. For example, the communications system 770 can include“connected car” technology. “Connected car” technology can include, forexample, devices to exchange communications between a vehicle and otherdevices in a packet-switched network. Such other devices can include,for example, another vehicle (e.g., “Vehicle to Vehicle” (V2V)technology), roadside infrastructure (e.g., “Vehicle to Infrastructure”(V2I) technology), a cloud platform (e.g., “Vehicle to Cloud” (V2C)technology), a pedestrian (e.g., “Vehicle to Pedestrian” (V2P)technology), or a network (e.g., “Vehicle to Network” (V2N) technology.“Vehicle to Everything” (V2X) technology can integrate aspects of theseindividual communications technologies.

The vehicle 700 can include one or more modules, at least some of whichare described herein. The modules can be implemented ascomputer-readable program code that, when executed by the one or moreprocessors 710, implement one or more of the various processes describedherein. One or more of the modules can be a component of the one or moreprocessors 710. Alternatively or additionally, one or more of themodules can be executed on and/or distributed among other processingsystems to which the one or more processors 710 can be operativelyconnected. The modules can include instructions (e.g., program logic)executable by the one or more processors 710. Alternatively oradditionally, the one or more data store 715 may contain suchinstructions.

In one or more arrangements, one or more of the modules described hereincan include artificial or computational intelligence elements, e.g.,neural network, fuzzy logic, or other machine learning algorithms.Further, in one or more arrangements, one or more of the modules can bedistributed among a plurality of the modules described herein. In one ormore arrangements, two or more of the modules described herein can becombined into a single module.

The vehicle 700 can include one or more automated driving modules 760.The one or more automated driving modules 760 can be configured toreceive data from the sensor system 720 and/or any other type of systemcapable of capturing information relating to the vehicle 700 and/or theexternal environment of the vehicle 700. In one or more arrangements,the one or more automated driving modules 760 can use such data togenerate one or more driving scene models. The one or more automateddriving modules 760 can determine position and velocity of the vehicle700. The one or more automated driving modules 760 can determine thelocation of obstacles, obstacles, or other environmental featuresincluding traffic signs, trees, shrubs, neighboring vehicles,pedestrians, etc.

The one or more automated driving modules 760 can be configured toreceive and/or determine location information for obstacles within theexternal environment of the vehicle 700 for use by the one or moreprocessors 710 and/or one or more of the modules described herein toestimate position and orientation of the vehicle 700, vehicle positionin global coordinates based on signals from a plurality of satellites,or any other data and/or signals that could be used to determine thecurrent state of the vehicle 700 or determine the position of thevehicle 700 with respect to its environment for use in either creating amap or determining the position of the vehicle 700 in respect to mapdata.

The one or more automated driving modules 760 can be configured todetermine one or more travel paths, current automated driving maneuversfor the vehicle 700, future automated driving maneuvers and/ormodifications to current automated driving maneuvers based on dataacquired by the sensor system 720, driving scene models, and/or datafrom any other suitable source such as determinations from the sensordata 719. As used herein, “driving maneuver” can refer to one or moreactions that affect the movement of a vehicle. Examples of drivingmaneuvers include: accelerating, decelerating, braking, turning, movingin a lateral direction of the vehicle 700, changing travel lanes,merging into a travel lane, and/or reversing, just to name a fewpossibilities. The one or more automated driving modules 760 can beconfigured to implement determined driving maneuvers. The one or moreautomated driving modules 760 can cause, directly or indirectly, suchautomated driving maneuvers to be implemented. As used herein, “cause”or “causing” means to make, command, instruct, and/or enable an event oraction to occur or at least be in a state where such event or action mayoccur, either in a direct or indirect manner. The one or more automateddriving modules 760 can be configured to execute various vehiclefunctions and/or to transmit data to, receive data from, interact with,and/or control the vehicle 700 or one or more systems thereof (e.g., oneor more of vehicle systems 740). For example, functions and/oroperations of an automotive navigation system can be realized by the oneor more automated driving modules 760.

Detailed embodiments are disclosed herein. However, one of skill in theart understands, in light of the description herein, that the disclosedembodiments are intended only as examples. Therefore, specificstructural and functional details disclosed herein are not to beinterpreted as limiting, but merely as a basis for the claims and as arepresentative basis for teaching one of skill in the art to variouslyemploy the aspects herein in virtually any appropriately detailedstructure. Furthermore, the terms and phrases used herein are notintended to be limiting but rather to provide an understandabledescription of possible implementations. Various embodiments areillustrated in FIGS. 1-5, 6A-6C, and 7 , but the embodiments are notlimited to the illustrated structure or application.

The flowchart and block diagrams in the figures illustrate thearchitecture, functionality, and operation of possible implementationsof systems, methods, and computer program products according to variousembodiments. In this regard, each block in flowcharts or block diagramsmay represent a module, segment, or portion of code, which comprises oneor more executable instructions for implementing the specified logicalfunction(s). One of skill in the art understands, in light of thedescription herein, that, in some alternative implementations, thefunctions described in a block may occur out of the order depicted bythe figures. For example, two blocks depicted in succession may, infact, be executed substantially concurrently, or the blocks may beexecuted in the reverse order, depending upon the functionalityinvolved.

The systems, components and/or processes described above can be realizedin hardware or a combination of hardware and software and can berealized in a centralized fashion in one processing system or in adistributed fashion where different elements are spread across severalinterconnected processing systems. Any kind of processing system oranother apparatus adapted for carrying out the methods described hereinis suitable. A typical combination of hardware and software can be aprocessing system with computer-readable program code that, when loadedand executed, controls the processing system such that it carries outthe methods described herein. The systems, components, and/or processesalso can be embedded in a computer-readable storage, such as a computerprogram product or other data programs storage device, readable by amachine, tangibly embodying a program of instructions executable by themachine to perform methods and processes described herein. Theseelements also can be embedded in an application product that comprisesall the features enabling the implementation of the methods describedherein and that, when loaded in a processing system, is able to carryout these methods.

Furthermore, arrangements described herein may take the form of acomputer program product embodied in one or more computer-readable mediahaving computer-readable program code embodied, e.g., stored, thereon.Any combination of one or more computer-readable media may be utilized.The computer-readable medium may be a computer-readable signal medium ora computer-readable storage medium. As used herein, the phrase“computer-readable storage medium” means a non-transitory storagemedium. A computer-readable storage medium may be, for example, but notlimited to, an electronic, magnetic, optical, electromagnetic, infrared,or semiconductor system, apparatus, or device, or any suitablecombination of the foregoing. More specific examples of thecomputer-readable storage medium would include, in a non-exhaustivelist, the following: a portable computer diskette, a hard disk drive(HDD), a solid-state drive (SSD), a read-only memory (ROM), an erasableprogrammable read-only memory (EPROM or flash memory), a portablecompact disc read-only memory (CD-ROM), a digital versatile disc (DVD),an optical storage device, a magnetic storage device, or any suitablecombination of the foregoing. As used herein, a computer-readablestorage medium may be any tangible medium that can contain or store aprogram for use by or in connection with an instruction executionsystem, apparatus, or device.

Generally, modules, as used herein, include routines, programs, objects,components, data structures, and so on that perform particular tasks orimplement particular data types. In further aspects, a memory generallystores such modules. The memory associated with a module may be a bufferor may be cache embedded within a processor, a random-access memory(RAM), a ROM, a flash memory, or another suitable electronic storagemedium. In still further aspects, a module as used herein, may beimplemented as an application-specific integrated circuit (ASIC), ahardware component of a system on a chip (SoC), a programmable logicarray (PLA), or another suitable hardware component that is embeddedwith a defined configuration set (e.g., instructions) for performing thedisclosed functions.

Program code embodied on a computer-readable medium may be transmittedusing any appropriate medium, including but not limited to wireless,wireline, optical fiber, cable, radio frequency (RF), etc., or anysuitable combination of the foregoing. Computer program code forcarrying out operations for aspects of the disclosed technologies may bewritten in any combination of one or more programming languages,including an object-oriented programming language such as Java™,Smalltalk, C++, or the like, and conventional procedural programminglanguages such as the “C” programming language or similar programminglanguages. The program code may execute entirely on a user’s computer,partly on a user’s computer, as a standalone software package, partly ona user’s computer and partly on a remote computer, or entirely on aremote computer or server. In the latter scenario, the remote computermay be connected to the user’s computer through any type of network,including a local area network (LAN) or a wide area network (WAN), orthe connection may be made to an external computer (for example, throughthe Internet using an Internet Service Provider).

The terms “a” and “an,” as used herein, are defined as one or more thanone. The term “plurality,” as used herein, is defined as two or morethan two. The term “another,” as used herein, is defined as at least asecond or more. The terms “including” and/or “having,” as used herein,are defined as comprising (i.e., open language). The phrase “at leastone of ... or ...” as used herein refers to and encompasses any and allpossible combinations of one or more of the associated listed items. Forexample, the phrase “at least one of A, B, or C” includes A only, Bonly, C only, or any combination thereof (e.g., AB, AC, BC, or ABC).

Aspects herein can be embodied in other forms without departing from thespirit or essential attributes thereof. Accordingly, reference should bemade to the following claims, rather than to the foregoingspecification, as indicating the scope hereof.

What is claimed is:
 1. A system, comprising: a processor; and a memorystoring: a retrieval module including instructions that when executed bythe processor cause the processor to retrieve, by a specific nodeassociated with a set of nodes in a network, information about the set,the information including, for a node in the set, identifications of afrequency and a time slot of a transmission-designated interval in acycle of a protocol; an alternative transmission determination moduleincluding instructions that when executed by the processor cause theprocessor to determine, based on the information, an existence, in theset, of a non-transmission-designated interval that has a durationgreater than a threshold duration; and a schedule module includinginstructions that when executed by the processor cause the processor toschedule, in response to the existence, the specific node to produce atransmission during the non-transmission-designated interval.
 2. Thesystem of claim 1, wherein: the network is associated with a channel,the channel is used for both a communications operation and a radaroperation, and the threshold duration allows the transmission to have asufficient amount of energy for the radar operation.
 3. The system ofclaim 1: further comprising: a data store configured to store theinformation; and a transceiver configure to receive, from at least oneother node in the set, at least some of the information, wherein theinstructions to retrieve include instructions to retrieve, from the datastore, the information.
 4. The system of claim 1, wherein thenon-transmission-designated interval occurs, in the cycle, before thetransmission-designated interval.
 5. The system of claim 4, wherein: thenetwork is associated with a channel, a frequency of the specific nodeis within a specific sub-band of the channel, the memory further storesa sub-band determination module including instructions that whenexecuted by the processor cause the processor to determine, in responseto the existence, a sub-band, of the channel, associated with thenon-transmission-designated interval, the instructions to scheduleinclude instructions to schedule, in response to the sub-band associatedwith the non-transmission-designated interval being the specificsub-band, the specific node to produce the transmission to betransmitted during a current cycle of a sequence of cycles, and theinstructions to schedule include instructions to schedule, in responseto the sub-band associated with the non-transmission-designated intervalbeing different from the specific sub-band, the specific node to producethe transmission to be transmitted during a next cycle of the sequenceof cycles.
 6. The system of claim 5, wherein the memory further stores:a transmission traffic determination module including instructions thatwhen executed by the processor cause the processor to determine, inresponse to the sub-band associated with the non-transmission-designatedinterval being different from the specific sub-band, if a degree of atransmission traffic in the network is greater than a threshold degree;an interference determination module including instructions that whenexecuted by the processor cause the processor to determine, in responseto a determination that the degree of the transmission traffic in thenetwork is greater than the threshold degree, if having the specificnode scheduled to produce the transmission to be transmitted during thenext cycle causes interference with the transmission traffic in thenetwork; an alternative transmission cancelation module includinginstructions that when executed by the processor cause the processor tocancel, in response to a determination that having the specific nodescheduled to produce the transmission to be transmitted during the nextcycle causes interference with the transmission traffic in the network,communication of the transmission to be transmitted during the nextcycle; and an alternative transmission delay module includinginstructions that when executed by the processor cause the processor todelay, in response to a determination that having the specific nodescheduled to produce the transmission to be transmitted during the nextcycle does not cause interference with the transmission traffic in thenetwork, communication of the transmission to allow for reception of atransmission in the sub-band associated with thenon-transmission-designated interval.
 7. The system of claim 6: furthercomprising: a transceiver configured to receive the transmission in thesub-band associated with the non-transmission-designated interval; and adata store configured to store the information, wherein the memoryfurther stores: a beacon determination module including instructionsthat when executed by the processor cause the processor to determine ifthe transmission in the sub-band associated with thenon-transmission-designated interval includes at least some of theinformation about the set of nodes; a comparison module includinginstructions that when executed by the processor cause the processor tocompare, in response to a determination that the transmission in thesub-band associated with the non-transmission-designated interval doesinclude the at least some of the information, a timestamp of an item inthe at least some of the information with a timestamp of a correspondingitem in the data store; and an information update module includinginstructions that when executed by the processor cause the processor toupdate, in response to a result of a comparison between the timestamp ofthe item in the at least some of the information and the timestamp ofthe corresponding item in the data store being that the timestamp of theitem in the at least some of the information is associated with a latertime than the timestamp of the corresponding item in the data store, thecorresponding item in the data store to be replaced by the item in theat least some of the information.
 8. The system of claim 7, wherein thememory further stores a sub-band reconsideration module includinginstructions that when executed by the processor cause the processor todetermine, based on the item in the at least some of the information, ifthe frequency of the specific node needs to be changed to be within asub-band, of the channel, different from the specific sub-band.
 9. Thesystem of claim 1, wherein the non-transmission-designated intervaloccurs, in the cycle, after the transmission-designated interval. 10.The system of claim 9, wherein: the network is associated with achannel, and the memory further stores: an alternative transmissiontiming module including instructions that when executed by the processorcause the processor to determine if the specific node is scheduled toproduce the transmission to be transmitted during a current cycle of asequence of cycles; a transmission traffic determination moduleincluding instructions that when executed by the processor cause theprocessor to determine, in response to a determination that the specificnode is not scheduled to produce the transmission to be transmittedduring the current cycle, if a degree of a transmission traffic in thenetwork is greater than a threshold degree; an interferencedetermination module including instructions that when executed by theprocessor cause the processor to determine, in response to adetermination that the degree of the transmission traffic in the networkis greater than the threshold degree, if having the specific nodescheduled to produce the transmission to be transmitted during a nextcycle, of the sequence of cycles, causes interference with thetransmission traffic in the network; an alternative transmissioncancelation module including instructions that when executed by theprocessor cause the processor to cancel, in response to a determinationthat having the specific node scheduled to produce the transmission tobe transmitted during the next cycle causes interference with thetransmission traffic in the network, communication of the transmissionto be transmitted during the next cycle; and an alternative transmissiondelay module including instructions that when executed by the processorcause the processor to delay, in response to a determination that havingthe specific node scheduled to produce the transmission to betransmitted during the next cycle does not cause interference with thetransmission traffic in the network, communication of the transmissionto allow for reception of a transmission in a sub-band, of the channel,associated with the non-transmission-designated interval.
 11. The systemof claim 10: further comprising: a transceiver configured to receive thetransmission in the sub-band associated with thenon-transmission-designated interval; and a data store configured tostore the information, wherein the memory further stores: a beacondetermination module including instructions that when executed by theprocessor cause the processor to determine if the transmission in thesub-band associated with the non-transmission-designated intervalincludes at least some of the information about the set of nodes; acomparison module including instructions that when executed by theprocessor cause the processor to compare, in response to a determinationthat the transmission in the sub-band associated with thenon-transmission-designated interval does include the at least some ofthe information, a timestamp of an item in the at least some of theinformation with a timestamp of a corresponding item in a data store;and an information update module including instructions that whenexecuted by the processor cause the processor to update, in response toa result of a comparison between the timestamp of the item in the atleast some of the information and the timestamp of the correspondingitem in the data store being that the timestamp of the item in the atleast some of the information is associated with a later time than thetimestamp of the corresponding item in the data store, the correspondingitem in the data store to be replaced by the item in the at least someof the information.
 12. The system of claim 11, wherein: a frequency ofthe specific node is within a specific sub-band of the channel, and thememory further stores a sub-band reconsideration module includinginstructions that when executed by the processor cause the processor todetermine, based on the item in the at least some of the information, ifthe frequency of the specific node needs to be changed to be within asub-band, of the channel, different from the specific sub-band.
 13. Thesystem of claim 1, wherein an endpoint of the cycle is designated by atleast one of: a synchronization signal produced by a global navigationsatellite system, a synchronization signal produce by a synchronizationcontrol node in the network, or a pattern in the cycle agreed-upon byotherwise synchronized nodes in the network.
 14. The system of claim 1,wherein a duration of the cycle is a function of a count of nodes in theset.
 15. The system of claim 1, wherein: the instructions to scheduleinclude instructions to schedule, based on a probabilistic parameter,the specific node to produce the transmission, and the probabilisticparameter is a function of at least one of a count of nodes in the setor a degree of a transmission traffic in the network.
 16. A method,comprising: retrieving, by a processor of a specific node associatedwith a set of nodes in a network, information about the set, theinformation including, for a node in the set, identifications of afrequency and a time slot of a transmission-designated interval in acycle of a protocol; determining, by the processor and based on theinformation, an existence, in the set, of a non-transmission-designatedinterval that has a duration greater than a threshold duration; andscheduling, by the processor and in response to the existence, thespecific node to produce a transmission during thenon-transmission-designated interval.
 17. The method of claim 16,wherein the specific node is a candidate to join the set.
 18. The methodof claim 16, wherein: the network is associated with a channel, afrequency of the specific node is within a sub-band of the channel, andthe non-transmission-designated interval of the specific node is withinthe sub-band.
 19. The method of claim 16, wherein: the network isassociated with a channel, a frequency of the specific node is within afirst sub-band of the channel, and the non-transmission-designatedinterval of the specific node is within a second sub-band of thechannel.
 20. A non-transitory computer-readable medium for exploiting anon-transmission-designated interval in a cycle of a protocol, thenon-transitory computer-readable medium including instructions that whenexecuted by one or more processors cause the one or more processors to:retrieve, by a specific node associated with a set of nodes in anetwork, information about the set, the information including, for anode in the set, identifications of a frequency and a time slot of atransmission-designated interval in the cycle of the protocol;determine, based on the information, an existence, in the set, of anon-transmission-designated interval that has a duration greater than athreshold duration; and schedule, in response to the existence, thespecific node to produce a transmission during thenon-transmission-designated interval.